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We propose an integrated behavior and motion planning framework for the lane-merging problem. The behavior planner combines search-based planning with game theory to model vehicle interactions and plan multi-vehicle trajectories. Inspired…
Parcels delivery is a critical activity in railways. More importantly, each parcel must be thoroughly checked and sorted according to its destination address. We require an efficient and robust IoT system capable of doing all of these tasks…
The facility location game has been studied extensively in mechanism design. In the classical model, each agent's cost is solely determined by her distance to the nearest facility. In this paper, we introduce a novel model where each…
Random walks are powerful tools to analyze spatial-temporal patterns produced by living organisms ranging from cells to humans. At the same time, it is evident that these patterns are not completely random but are results of a convolution…
In multi-player card games such as Skat or Bridge, the early stages of the game, such as bidding, game selection, and initial card selection, are often more critical to the success of the play than refined middle- and end-game play. At the…
A typical freight railyard at a manufacturing facility contains multiple tracks used for storage, classification, and outbound train assembly. Individual railcar storage locations on classification tracks are often determined before…
Designing pacing for video games presents a unique set of challenges. Due to their interactivity, non-linearity, and narrative nature, many aspects must be coordinated and considered simultaneously. In addition, games are often developed in…
Access and egress trips constitute a substantial part of a train trip in minds of travellers, often being the deciding factor whether to travel by train at all. Despite a host of studies analysing individual legs within a multimodal trip…
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…
In this paper, we resolve the computational complexity of a number of outstanding open problems with practical applications. Here is the list of problems we show to be PPAD-complete, along with the domains of practical significance:…
We present algorithms and experiments for the visualization of directed graphs that focus on displaying their reachability information. Our algorithms are based on the concepts of the path and channel decomposition as proposed in the…
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…
Train marshalling is the process of reordering the railcars of a train in such a way that the railcars with the same destination appear consecutively in the final, reassembled train. The process takes place in the shunting yard by means of…
This study employs gamified experiments to investigate and refine the Schelling Model of Segregation, a framework that demonstrates how individual preferences can lead to systemic segregation. Using a movement selection algorithm derived…
Neural network pruning is widely used to reduce model size and computational cost. Yet, most existing methods treat sparsity as an externally imposed constraint, enforced through heuristic importance scores or training-time regularization.…
Artificial intelligence is essential to succeed in challenging activities that involve dynamic environments, such as object manipulation tasks in indoor scenes. Most of the state-of-the-art literature explores robotic grasping methods by…
This work introduces a new subarea of performance tuning -- performance tuning in a shared interference-prone computing environment. We demonstrate that existing tuners are significantly suboptimal by design because of their inability to…
We study the escape probability problem in random walks over graphs. Given vertices, $s,t,$ and $p$, the problem asks for the probability that a random walk starting at $s$ will hit $t$ before hitting $p$. Such probabilities can be…
We introduce and study pawn games, a class of two-player zero-sum turn-based graph games. A turn-based graph game proceeds by placing a token on an initial vertex, and whoever controls the vertex on which the token is located, chooses its…
Motivated by advances is nanoscale applications and simplistic robot agents, we look at problems based on using a global signal to move all agents when given a limited number of directional signals and immovable geometry. We study a model…